Short answer: Replace tires at 4/32" of tread for wet-weather safety — 2/32" is just the legal minimum, not a safe one. And replace by 6–10 years of age no matter the tread, since rubber hardens and cracks with time even on a car that barely drives.
Check
Replace when
Note
Tread depth
at 4/32"
penny test: Lincoln's head shows
Age
6–10 yrs
check the DOT date code
Damage
any sidewall bulge
immediately
The quick tread check: insert a penny upside down into the groove. If you can see all of Lincoln's head, you're at or below 2/32" and well past due. For a safer margin, use a quarter — Washington's head means about 4/32" left.
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Age matters even for low-mileage cars. The DOT code on the sidewall ends in a four-digit week/year (e.g., 3220 = week 32 of 2020). Past 6 years, inspect annually; past 10, replace regardless of how much tread remains. Budget $600–1,000 for a set of four installed.